16.S498 | Fall 2019 | Graduate

Risk Aware and Robust Nonlinear Planning

Course Description

In this course, Dr. Ashkan Jasour addresses advanced probabilistic and robust optimization-based techniques for control and safety verification of nonlinear dynamical systems in the presence of uncertainties. Specifically, we will learn how to leverage rigorous mathematical tools, such as the theory of measures and …
In this course, Dr. Ashkan Jasour addresses advanced probabilistic and robust optimization-based techniques for control and safety verification of nonlinear dynamical systems in the presence of uncertainties. Specifically, we will learn how to leverage rigorous mathematical tools, such as the theory of measures and moments, the theory of nonnegative polynomials, and semidefinite programming, to develop convex optimization formulations to control and analyze uncertain nonlinear dynamical systems with applications in autonomous systems and robotics.
Learning Resource Types
Problem Sets
Projects
Lecture Notes
math diagram of semidefinite programming
Semidefinite programming-based methods for control and safety verification of uncertain nonlinear dynamical systems. (Image courtesy of the instructor.)